def test_testheader_passthrough(self):
# 20 seconds to validate fixture
timeout_t = time.time() + 20.
print "waiting for 20 seconds for fixture to verify"
while self.fixture_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(self.fixture_curr is None, "no data from fixture")
self.assertEquals('/node0', self.fixture_curr.caller_id)
self.assertEquals('', self.fixture_curr.orig_caller_id)
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while self.test_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(self.test_curr is None, "no data from test")
self.assertEquals('/rosjava_node', self.test_curr.caller_id)
self.assertEquals('/node0', self.test_curr.orig_caller_id)
t = self.test_curr.header.stamp.to_sec()
# be really generous here, just need to be in the ballpark.
self.assert_(abs(time.time() - t) < 60.)
def test_composite_passthrough(self):
# 20 seconds to validate fixture
timeout_t = time.time() + 20.
print("waiting for 20 seconds for fixture to verify")
while self.fixture_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertFalse(timeout_t < time.time(), "timeout exceeded")
self.assertFalse(rospy.is_shutdown(), "node shutdown")
self.assertFalse(self.fixture_curr is None, "no data from fixture")
m = self.fixture_curr
self.assertAlmostEqual(m.a.x, m.b.x)
self.assertAlmostEqual(m.a.y, m.b.y)
self.assertAlmostEqual(m.a.z, m.b.z)
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print("waiting for 20 seconds for client to verify")
while self.test_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertFalse(self.test_curr is None, "no data from test")
m = self.test_curr
self.assertAlmostEqual(m.a.x, m.b.x)
self.assertAlmostEqual(m.a.y, m.b.y)
self.assertAlmostEqual(m.a.z, m.b.z)
# a.w = a.x + a.y + a.z. Just make sure we're in the ballpark
a = self.test_curr.a
self.assertTrue(abs(a.x + a.y + a.z - a.w) < 10.)
def test_int64_passthrough(self):
# 20 seconds to validate fixture
timeout_t = time.time() + 20.
print "waiting for 20 seconds for fixture to verify"
while self.fixture_prev is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(self.fixture_prev is None, "no data from fixture")
self.failIf(self.fixture_curr is None, "no data from fixture")
self.assertEquals(self.fixture_prev.data + 1, self.fixture_curr.data, "fixture should incr by one")
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while self.test_prev is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(self.test_prev is None, "no data from test")
self.assertEquals(self.test_prev.data + 1, self.test_curr.data, "test does not appear to match fixture data")
def test_string_passthrough(self):
# 20 seconds to validate fixture
timeout_t = time.time() + 20.
print "waiting for 20 seconds for fixture to verify"
while not self.fixture_nodes_cb == self.nodes_set and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.assertEquals(self.nodes_set, self.fixture_nodes_cb, "fixture did not validate: %s vs %s"%(self.nodes_set, self.fixture_nodes_cb))
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while not self.test_nodes_cb == self.nodes_set and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertEquals(self.nodes_set, self.test_nodes_cb, "passthrough did not pass along all message")
# Create a new Publisher here. This will validate publisherUpdate()
pub = rospy.Publisher('string_in', String)
msg = 'test_publisherUpdate'
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while not msg in self.nodes_set and \
not rospy.is_shutdown() and \
timeout_t > time.time():
pub.publish(data=msg)
time.sleep(0.2)
def test_composite_passthrough(self):
# 20 seconds to validate fixture
timeout_t = time.time() + 20.
print "waiting for 20 seconds for fixture to verify"
while self.fixture_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(self.fixture_curr is None, "no data from fixture")
m = self.fixture_curr
self.assertAlmostEquals(m.a.x, m.b.x)
self.assertAlmostEquals(m.a.y, m.b.y)
self.assertAlmostEquals(m.a.z, m.b.z)
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to verify"
while self.test_curr is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(self.test_curr is None, "no data from test")
m = self.test_curr
self.assertAlmostEquals(m.a.x, m.b.x)
self.assertAlmostEquals(m.a.y, m.b.y)
self.assertAlmostEquals(m.a.z, m.b.z)
# a.w = a.x + a.y + a.z. Just make sure we're in the ballpark
a = self.test_curr.a
self.assert_(abs(a.x + a.y + a.z - a.w) < 10.)
def test_int64_passthrough(self):
# 20 seconds to validate fixture
timeout_t = time.time() + 20.
print("waiting for 20 seconds for fixture to verify")
while self.fixture_prev is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertFalse(timeout_t < time.time(), "timeout exceeded")
self.assertFalse(rospy.is_shutdown(), "node shutdown")
self.assertFalse(self.fixture_prev is None, "no data from fixture")
self.assertFalse(self.fixture_curr is None, "no data from fixture")
self.assertEqual(self.fixture_prev.data + 1, self.fixture_curr.data, "fixture should incr by one")
# another 20 seconds to validate client
timeout_t = time.time() + 20.
print("waiting for 20 seconds for client to verify")
while self.test_prev is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.assertFalse(self.test_prev is None, "no data from test")
self.assertEqual(self.test_prev.data + 1, self.test_curr.data, "test does not appear to match fixture data")
def test_tilde_parameter(self):
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to load"
while self.tilde_msg is None and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(self.tilde_msg is None)
self.assertEquals(rospy.get_param('param_client/tilde'), self.tilde_msg.data)
def publisher():
rospy.init_node('string_publisher')
pub = rospy.Publisher('string_in', std_msgs.msg.String)
m = std_msgs.msg.String(rospy.get_name())
r = rospy.Rate(10)
while not rospy.is_shutdown():
pub.publish(m)
r.sleep()
def publisher():
rospy.init_node('string_publisher')
pub = rospy.Publisher('string_in', std_msgs.msg.String)
m = std_msgs.msg.String(rospy.get_name())
r = rospy.Rate(10)
while not rospy.is_shutdown():
pub.publish(m)
r.sleep()
def test_parameter_client_read(self):
timeout_t = time.time() + 20.
print("waiting for 20 seconds for client to load")
tests = self.tests
msgs = [None]
while any(1 for m in msgs if m is None) and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
msgs = [getattr(self, t + '_msg') for t in tests]
print("msgs: %s" % (msgs))
self.assertFalse(timeout_t < time.time(), "timeout exceeded")
self.assertFalse(rospy.is_shutdown(), "node shutdown")
self.assertFalse(any(1 for m in msgs if m is None),
"did not receive all expected messages: " + str(msgs))
ns = rospy.get_param('parameter_namespace')
for t in tests:
p_name = roslib.names.ns_join(ns, t)
value = rospy.get_param(p_name, t)
msg = getattr(self, "%s_msg" % (t))
print("get param: %s" % (p_name))
print("param value: %s" % (value))
print("msg value: %s" % (msg))
if t == 'composite':
print("value", p_name, value)
m = Composite(CompositeA(**value['a']),
CompositeB(**value['b']))
self.assertAlmostEqual(m.a.x, msg.a.x)
self.assertAlmostEqual(m.a.y, msg.a.y)
self.assertAlmostEqual(m.a.z, msg.a.z)
self.assertAlmostEqual(m.a.w, msg.a.w)
self.assertAlmostEqual(m.b.x, msg.b.x)
self.assertAlmostEqual(m.b.y, msg.b.y)
self.assertAlmostEqual(m.b.z, msg.b.z)
elif t == 'list':
self.assertEqual(list(value), list(msg.int32_array))
elif t == 'float':
self.assertAlmostEqual(value, msg.data)
else:
self.assertEqual(value, msg.data)
def publisher():
rospy.init_node('testheader_publisher')
pub = rospy.Publisher('test_header_in', rosjava_test_msgs.msg.TestHeader)
r = rospy.Rate(10)
m = rosjava_test_msgs.msg.TestHeader()
m.caller_id = rospy.get_name()
m.header.stamp = rospy.get_rostime()
while not rospy.is_shutdown():
pub.publish(m)
r.sleep()
def publisher():
rospy.init_node('testheader_publisher')
pub = rospy.Publisher('test_header_in', rosjava_test_msgs.msg.TestHeader)
r = rospy.Rate(10)
m = rosjava_test_msgs.msg.TestHeader()
m.caller_id = rospy.get_name()
m.header.stamp = rospy.get_rostime()
while not rospy.is_shutdown():
pub.publish(m)
r.sleep()
def test_parameter_client_read(self):
timeout_t = time.time() + 20.
print "waiting for 20 seconds for client to load"
tests = self.tests
msgs = [None]
while any(1 for m in msgs if m is None) and \
not rospy.is_shutdown() and \
timeout_t > time.time():
time.sleep(0.2)
msgs = [getattr(self, t+'_msg') for t in tests]
print "msgs: %s"%(msgs)
self.failIf(timeout_t < time.time(), "timeout exceeded")
self.failIf(rospy.is_shutdown(), "node shutdown")
self.failIf(any(1 for m in msgs if m is None), "did not receive all expected messages: "+str(msgs))
ns = rospy.get_param('parameter_namespace')
for t in tests:
p_name = roslib.names.ns_join(ns, t)
value = rospy.get_param(p_name, t)
msg = getattr(self, "%s_msg"%(t))
print "get param: %s"%(p_name)
print "param value: %s"%(value)
print "msg value: %s"%(msg)
if t == 'composite':
print "value", p_name, value
m = Composite(CompositeA(**value['a']), CompositeB(**value['b']))
self.assertAlmostEquals(m.a.x, msg.a.x)
self.assertAlmostEquals(m.a.y, msg.a.y)
self.assertAlmostEquals(m.a.z, msg.a.z)
self.assertAlmostEquals(m.a.w, msg.a.w)
self.assertAlmostEquals(m.b.x, msg.b.x)
self.assertAlmostEquals(m.b.y, msg.b.y)
self.assertAlmostEquals(m.b.z, msg.b.z)
elif t == 'list':
self.assertEquals(list(value), list(msg.int32_array))
elif t == 'float':
self.assertAlmostEquals(value, msg.data)
else:
self.assertEquals(value, msg.data)
def publisher():
rospy.init_node('int64_publisher')
pub = rospy.Publisher('int64_in', std_msgs.msg.Int64)
i = 0
r = rospy.Rate(10)
m = std_msgs.msg.Int64(i)
while not rospy.is_shutdown():
pub.publish(m)
i += 1
m.data = i
r.sleep()
def publisher():
rospy.init_node('int64_publisher')
pub = rospy.Publisher('int64_in', std_msgs.msg.Int64)
i = 0
r = rospy.Rate(10)
m = std_msgs.msg.Int64(i)
while not rospy.is_shutdown():
pub.publish(m)
i += 1
m.data = i
r.sleep()
def publisher():
rospy.init_node('composite_publisher')
pub = rospy.Publisher('composite_in', test_ros.msg.Composite)
r = rospy.Rate(10)
m = test_ros.msg.Composite()
m.a.x = random.random() * 10000.
m.a.y = random.random() * 10000.
m.a.z = random.random() * 10000.
m.a.w = m.a.x + m.a.y + m.a.z
m.b.x = m.a.x
m.b.y = m.a.y
m.b.z = m.a.z
while not rospy.is_shutdown():
pub.publish(m)
r.sleep()
